/**
  ******************************************************************************
  * @file    Project/STM32F10x_StdPeriph_Template/stm32f10x_it.h 
  * @author  MCD Application Team
  * @version V3.5.0
  * @date    08-April-2011
  * @brief   This file contains the headers of the interrupt handlers.
  *****************************************************************************
  * @attention
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
  ******************************************************************************
  */ 

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F10x_IT_H
#define __STM32F10x_IT_H

#ifdef __cplusplus
 extern "C" {	   `	
#endif 

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "definiciones_hs_car.h"
#include "histograma.h"

/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */

void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void USART1_procesar_rx(void);
void USART1_Reiniciar_Maquina_rx(void);
void USART1_Enviar_ACK(void);
void USART1_Enviar_NACK(void);
void EXTI15_10_IRQHandler(void);
void TIM3_IRQHandler(void);
void TIM1_UP_IRQHandler(void);
void USART1_IRQHandler(void);
float Control_PID(float Kp,float Ki,float Kd,float Entrada,float Consigna,float *Error_Acumulado,float *Error_Anterior);
void Calibra_Barras(void);
void Control_Vehiculo(void);
void Salida_Throttle(float porcentaje);
void Salida_Direccion(float porcentaje);
float Mapeo_Entrada_Acc(void);
float Mapeo_Entrada_Dir(void);
float Mapeo_Entrada_Aux(void);
void Navegacion (void);
void EXTI9_5_IRQHandler(void);
uint32_t USART1_Recibir_Variable(void);
void USART1_Enviar_Variable(uint32_t varid);

#ifdef __cplusplus
}
#endif

#endif /* __STM32F10x_IT_H */

/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
